基于DSP的AGV运动控制系统设计

Design of AGV control system based on DSP

AGV是一种自动导向车,能够在具有一定地形特征的环境中顺利到达期望目的地或沿期望路径行驶,已经被广泛应用于军事、航空和医药等领域.以两轮AGV为控制对象,采用高精度线阵CCD摄像头、高速DSP和超声波声纳构成一个AGV系统,着重介绍了基于数字信号处理器TMS320F240的AGV运动控制系统,论述了各组成部分的工作原理,并使用模糊逻辑控制策略对AGV系统的轨迹跟踪能力进行了仿真.该系统充分利用DSP运算速度快、外设接口丰富、适于电机控制的特点,实现对AGV的速度和航向的控制.该系统具有硬件结构简单,软件开销小等特点.

AGV(Automated Guided Vehicle) can reach its destination or move along a desired path in an environment characterized by a terrain, which has been widely used in many fields such as military、space and medicine etc. This paper takes a two-wheel AGV as the control object. A high precision line scan CCD camera、high speed DSPs and ultrasonic sensors are used to build the AGV system. This paper mainly presents a AGV motion control system based on DSP TMS320F240 with the operation principle of each component also described.At last. Fuzzy Logic control is adopted to test the path tracking ability of AGV. It fully utilizes the high-speed calculation function and wealthy peripheral sockets of DSP as well as the characteristics suitable for controlling the speed and heading orientation of AGV.The system has a very simple hardware construction and low software costs.